#ifndef TOPICPROTOCOL_H
#define TOPICPROTOCOL_H


//service cmd
enum TopicCommand
{
    CMD_EMERGENCY_STOP 			= 1,
    CMD_SET_SERVO 				= 2,
    CMD_SET_BRAKE 				= 3,
    CMD_STOP 					= 4,
    CMD_MOVE_HOME				= 5,
    CMD_MOVE_ZERO				= 6,
    CMD_JOINT_MOVE_TO			= 7,
    CMD_JOINT_MOVE_BY			= 8,
    CMD_TASK_MOVE_TO			= 9,
    CMD_TASK_MOVE_BY			= 10,


    CMD_IS_ROBOT_RUNNING        = 40,
    CMD_IS_MOVE_FINISEHD        = 41,
    CMD_IS_HOME                 = 42,

    CMD_GET_JOINT_POSITION		= 320,
    CMD_GET_JOINT_VELOCITY		= 321,
    CMD_GET_CART_POSITION		= 322,
    CMD_GET_CART_VELOCITY		= 323,
    CMD_GET_TORQUE				= 324,

    CMD_PROGRAM_NEW             = 401,
    CMD_PROGRAM_OPEN            = 402,
    CMD_PROGRAM_SAVE            = 403,
    CMD_PROGRAM_SAVE_EXIT       = 404,
    CMD_PROGRAM_EXIT            = 405,
    CMD_PROGRAM_DELETE          = 406,
    CMD_PROGRAM_RUN             = 407,
    CMD_PROGRAM_STOP            = 408,

    CMD_WAYPOINT_PUSHBACK       = 421,
    CMD_WAYPOINT_INSERT         = 422,
    CMD_WAYPOINT_ERASE          = 423,
    CMD_WAYPOINT_REPLACE        = 424,
    CMD_WAYPOINT_CLEAR          = 425,
    CMD_WAYPOINT_UPDATE         = 426,


};


#endif // TOPICPROTOCOL_H
